CN104236533A - Gyroscope data fusion method - Google Patents
Gyroscope data fusion method Download PDFInfo
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- CN104236533A CN104236533A CN201410476399.0A CN201410476399A CN104236533A CN 104236533 A CN104236533 A CN 104236533A CN 201410476399 A CN201410476399 A CN 201410476399A CN 104236533 A CN104236533 A CN 104236533A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
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Abstract
The invention discloses a gyroscope data fusion method. The method comprises steps as follows: A, when gyroscope equipment is started, the module value of the sum of three axial vectors is calculated by the aid of the three axial vectors output by an accelerometer in a static state; B, the module value of the sum of three axial vectors is calculated by the aid of the three axial vectors output by the accelerometer in a motion state; C, a current attitude angle is calculated by the aid of an attitude angle of the last moment, an attitude angle obtained according to the output of the accelerometer, an angular speed of a special axis obtained according to an angle speed indicator, the interval time between the last moment and the current moment as well as a data fusion reference coefficient. According to the method, the data fusion reference coefficient is introduced during data fusion, so that high-precision data fusion is realized under the condition that the calculation complexity is not increased, and meanwhile, the problem that attitude positioning cannot be performed in the prior art under the condition that equipment has the acceleration is solved. The gyroscope data fusion method can be widely applied to the technical field of gyroscopes.
Description
Technical field
The present invention relates to gyroscope technology field, especially a kind of gyro data fusion method.
Background technology
Adopt gyroscope to do Based Intelligent Control in existing equipment, most equipment adopts twin shaft or three-axis gyroscope to carry out the attitude angle of opertaing device, because accelerometer data when static are accurate, but after equipment moving gets up, data are just no longer accurate, angular accelerometer calculates the rotary motion of object, so far only by the data of an axle, utilize separately accelerometer or utilize separately angular accelerometer all cannot obtain the angle of equipment, and due to the problem such as precision and manufacturing process of gyroscope itself, the data directly exported by hardware are made to have drift and cumulative errors, also have in data coupling process and also can there is error, therefore the angle-data exported cannot keep high precision for a long time, therefore the technological difficulties of gyroscope opertaing device are utilized to be the fusion computing of gyro data.
The current method mainly containing following several gyro data and merge, based on hypercomplex number fusion method, based on the data fusion of Kalman Algorithm, the mode based on complementary filter carries out data fusion.Although higher based on the precision of the data fusion of Kalman Algorithm, but calculated amount is huge, process is complicated, smaller than Kalman Algorithm based on Quaternion Method calculated amount, but the minimum precision of complementary filter calculated amount is lower, and at present above these blending algorithms be all the situation not doing accelerated motion at equipment, when accelerated motion, the data volume of accelerometer has merged the acceleration that gravity also has equipment itself, cannot recycle it and carry out attitude orientation.
Summary of the invention
In order to solve the problems of the technologies described above, the object of the invention is: provide a kind of and be applicable to the gyro data fusion method that equipment exists acceleration.
The technical solution adopted in the present invention is: a kind of gyro data fusion method, includes following steps:
A, when gyroscope apparatus is opened, utilize three axial vectors that accelerometer exports under stationary state, calculate three axial vectors and modulus value;
B, under motion state accelerometer export three axial vectors, calculate three axial vectors and modulus value;
C, utilized the attitude angle in a upper moment, the attitude angle that obtains according to the output of accelerometer, the angular velocity of specific axis obtained according to turn meter, interval time of a upper moment and current time and data fusion reference coefficient, calculate current attitude angle.
Further, calculate again after null value offset error compensation being carried out to three axial vectors in described steps A three axial vectors and modulus value.
Further, described data fusion reference frame is several according to the magnitude calculation gained in above-mentioned steps A, step B.
Further, in described step C, the computing formula at current pose angle is:
Wherein angle
t-1for the attitude angle in a upper moment, angle_accelerate is the attitude angle obtained according to the output of accelerometer, and angle_gyro_rate is the angular velocity of the specific axis obtained according to turn meter, and T was the interval time of a upper moment and current time, K is data fusion reference coefficient, angle
tfor current attitude angle.
Further, described data fusion with reference to the computing formula of COEFFICIENT K is:
Wherein G is the modulus value in described steps A, and be the modulus value in described step B, C and D is constant factor.
Further, for different span
, constant factor C and the constant factor D of different value are set.
The invention has the beneficial effects as follows: the present invention by introducing data fusion with reference to coefficient in data fusion process, realizing high accuracy data to merge when not increasing computation complexity, solving prior art can not carry out attitude orientation problem when equipment exists acceleration simultaneously.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of the inventive method;
Fig. 2 is the schematic diagram of certain moment gyroscope state in rectangular coordinate system in space.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
With reference to Fig. 1, a kind of gyro data fusion method, includes following steps:
A, when gyroscope apparatus is opened, utilize three axial vectors that accelerometer exports under stationary state, calculate three axial vectors and modulus value;
Accelerometer output valve (A_x, A_y, A_z) is that acceleration of gravity is at the vector of three axles under device coordinate system, and the magnitude calculation formula of the vector of accelerometer three axles is as follows:
G and gravity acceleration value, the value of different latitudes has certain error, generally in coarse situation, gets 9.8m/s
2, be used for doing reference point.
B, under motion state accelerometer export three axial vectors, calculate three axial vectors and modulus value;
Be that 0(is static when gyroscope is in stable state brief acceleration value, or only have rotation, or during uniform motion), three axles should be G with the modulus value of vector, when equipment does acceleration or deceleration motion, so instantaneous acceleration value G ' should be greater than or less than the value of G, and the acceleration of object is larger, and so the difference of G and G ' is also larger.
C, utilized the attitude angle in a upper moment, the attitude angle that obtains according to the output of accelerometer, the angular velocity of specific axis obtained according to turn meter, interval time of a upper moment and current time and data fusion reference coefficient, calculate current attitude angle.
Be further used as preferred embodiment, calculate again after null value offset error compensation being carried out to three axial vectors in described steps A three axial vectors and modulus value.
Be further used as preferred embodiment, described data fusion reference frame is several according to the magnitude calculation gained in above-mentioned steps A, step B.
Be further used as preferred embodiment, in described step C, the computing formula at current pose angle is:
Wherein angle
t-1for the attitude angle in a upper moment, angle_accelerate is the attitude angle obtained according to the output of accelerometer, with reference to Fig. 2, in the formula specifically obtaining attitude angle formula below:
tan(Axz)?=?Rx/Rz?=>?Angle_y?=?atan2(Rx,Rz)；
tan(Ayz)=Ry/Rz?=>?Angle_x=atan2(Ry,Rz)；
tan(Axy)=Ry/Rx?=>?Angle_z=atan2(Ry,Rx)；
Angle_gyro_rate is the angular velocity of the specific axis obtained according to turn meter, and T was the interval time of a upper moment and current time, K be data fusion with reference to coefficient, angle
tfor current attitude angle, angle
tthe angle that turns over for specific axis of value, Axz angle as shown in Figure 2, Ayz angle.
Further, described data fusion with reference to the computing formula of COEFFICIENT K is:
Wherein G is the modulus value in described steps A, and be the modulus value in described step B, C and D is constant factor.
Further, for different span
, constant factor C and the constant factor D of different value are set; Namely the threshold value of several dynamic range is set according to the concrete condition in practice, such as when
in [0,0.2], [0.2,0.4], [0.4,0.5] arrange different constant factor C and constant factor D thus obtain different K values, so not only can improve the speed of computing but also can reduce operand as far as possible.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art can also make all equivalents or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (6)
1. a gyro data fusion method, is characterized in that: include following steps:
A, when gyroscope apparatus is opened, utilize three axial vectors that accelerometer exports under stationary state, calculate three axial vectors and modulus value;
B, under motion state accelerometer export three axial vectors, calculate three axial vectors and modulus value;
C, utilized the attitude angle in a upper moment, the attitude angle that obtains according to the output of accelerometer, the angular velocity of specific axis obtained according to turn meter, interval time of a upper moment and current time and data fusion reference coefficient, calculate current attitude angle.
2. a kind of gyro data fusion method according to claim 1, is characterized in that: calculate again after null value offset error compensation being carried out to three axial vectors in described steps A three axial vectors and modulus value.
3. a kind of gyro data fusion method according to claim 1, is characterized in that: described data fusion reference frame is several according to the magnitude calculation gained in above-mentioned steps A, step B.
4. a kind of gyro data fusion method according to claim 1, is characterized in that: in described step C, the computing formula at current pose angle is:
Wherein angle
t-1for the attitude angle in a upper moment, angle_accelerate is the attitude angle obtained according to the output of accelerometer, and angle_gyro_rate is the angular velocity of the specific axis obtained according to turn meter, and T was the interval time of a upper moment and current time, K is data fusion reference coefficient, angle
tfor current attitude angle.
5. a kind of gyro data fusion method according to claim 4, is characterized in that: described data fusion with reference to the computing formula of COEFFICIENT K is:
Wherein G is the modulus value in described steps A,
for the modulus value in described step B, C and D is constant factor.
6. a kind of gyro data fusion method according to claim 5, is characterized in that: for different span
, constant factor C and the constant factor D of different value are set.
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| CN106028107A (en) * | 2016-06-20 | 2016-10-12 | 昆明理工大学 | Wireless English text input system based on accelerometer and gyroscope sensor |
| CN107203257A (en) * | 2016-03-17 | 2017-09-26 | 深圳多哚新技术有限责任公司 | A kind of head pose compensation method and relevant device |
| CN108663044A (en) * | 2017-03-31 | 2018-10-16 | 高德信息技术有限公司 | A kind of localization method and device |
| CN114440926A (en) * | 2022-01-18 | 2022-05-06 | 武汉元生创新科技有限公司 | Method and system for expanding detection range of gyroscope |
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